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meshlab/unsupported/plugins_unsupported/edit_arc3D/edit_arc3D.cpp
alemuntoni 3737a0a947 move unsupported and experimental outside src
2020-10-21 17:24:01 +02:00

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/****************************************************************************
* MeshLab o o *
* A versatile mesh processing toolbox o o *
* _ O _ *
* Copyright(C) 2005 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
/****************************************************************************
History
$Log: meshedit.cpp,v $
****************************************************************************/
#include <Qt>
#include <QtXml/QDomDocument>
#include <QtXml/QDomElement>
#include <QtXml/QDomNode>
#include <math.h>
#include <stdlib.h>
#include <meshlab/glarea.h>
#include "edit_arc3D.h"
#include "pushpull.h"
#include <meshlab/stdpardialog.h>
#include <vcg/complex/append.h>
#include <vcg/math/histogram.h>
#include <vcg/complex/algorithms/create/platonic.h>
#include <vcg/complex/algorithms/clustering.h>
#include <vcg/complex/algorithms/hole.h>
#include <wrap/io_trimesh/export_ply.h>
#include <common/alnParser.h>
using namespace std;
using namespace vcg;
EditArc3DPlugin::EditArc3DPlugin() {
arc3DDialog = 0;
qFont.setFamily("Helvetica");
qFont.setPixelSize(10);
}
const QString EditArc3DPlugin::Info()
{
return tr("This edit can be used to extract 3D models from Arc3D results");
}
bool EditArc3DPlugin::StartEdit(MeshDocument & _md, GLArea * _gla, MLSceneGLSharedDataContext* /*cont*/)
{
GLenum err = glewInit();
if (err != GLEW_OK)
return false;
er.modelList.clear();
this->md=&_md;
gla=_gla;
connect(this, SIGNAL(documentUpdated()), md, SIGNAL(documentUpdated()));
///////
delete arc3DDialog;
arc3DDialog=new v3dImportDialog(gla->window(),this);
QString fileName=arc3DDialog->fileName;
if (fileName.isEmpty()) return false;
// this change of dir is needed for subsequent texture/material loading
QString FileNameDir = fileName.left(fileName.lastIndexOf("/"));
QDir::setCurrent(FileNameDir);
QString errorMsgFormat = "Error encountered while loading file %1:\n%2";
string stdfilename = QFile::encodeName(fileName).constData ();
QDomDocument doc;
QFile file(fileName);
if (file.open(QIODevice::ReadOnly) && doc.setContent(&file))
{
file.close();
QDomElement root = doc.documentElement();
if (root.nodeName() == tr("reconstruction"))
{
QDomNode nhead = root.firstChildElement("head");
for(QDomNode n = nhead.firstChildElement("meta"); !n.isNull(); n = n.nextSiblingElement("meta"))
{
if(!n.hasAttributes()) return false;
QDomNamedNodeMap attr= n.attributes();
if(attr.contains("name")) er.name = (attr.namedItem("name")).nodeValue() ;
if(attr.contains("author")) er.author = (attr.namedItem("author")).nodeValue() ;
if(attr.contains("created")) er.created = (attr.namedItem("created")).nodeValue() ;
}
for(QDomNode n = root.firstChildElement("model"); !n.isNull(); n = n.nextSiblingElement("model"))
{
Arc3DModel em;
em.Init(n);
//em.cam.TR
er.modelList.push_back(em);
}
}
}
arc3DDialog->setArc3DReconstruction( &er);
arc3DDialog->exportToPLY=false;
connect(arc3DDialog, SIGNAL(closing()),gla,SLOT(endEdit()) );
connect(arc3DDialog->ui.plyButton, SIGNAL(clicked()),this,SLOT(ExportPly()) );
connect(arc3DDialog->ui.exportbut,SIGNAL(clicked()),this,SLOT(exportShotsToRasters()));
connect(this,SIGNAL(resetTrackBall()),gla,SLOT(resetTrackBall()));
return true;
}
void EditArc3DPlugin::EndEdit(MeshDocument &/*m*/, GLArea * gla, MLSceneGLSharedDataContext* /*cont*/)
{
delete arc3DDialog;
arc3DDialog=0;
gla->update();
}
/*
This is the main function, which generates the final mesh (and the rasters) based on the selection provided by the user
*/
void EditArc3DPlugin::ExportPly()
{
if (gla == NULL)
return;
md->setBusy(true);
md->addNewMesh("",er.name,true);
MeshModel* m=md->mm();
// Options collection
int t0=clock();
int subSampleVal = arc3DDialog->ui.subsampleSpinBox->value();
int minCountVal= arc3DDialog->ui.minCountSpinBox->value();
float maxCCDiagVal= arc3DDialog->ui.maxCCDiagSpinBox->value();
int smoothSteps=arc3DDialog->ui.smoothSpinBox->value();
bool closeHole = arc3DDialog->ui.holeCheckBox->isChecked();
int maxHoleSize = arc3DDialog->ui.holeSpinBox->value();
CMeshO mm;
QTableWidget *qtw=arc3DDialog->ui.imageTableWidget;
float MinAngleCos=cos(vcg::math::ToRad(arc3DDialog->ui.qualitySpinBox->value()));
bool removeSmallCC=arc3DDialog->ui.removeSmallCCCheckBox->isChecked();
//vcg::tri::Clustering<CMeshO, vcg::tri::AverageColorCell<CMeshO> > Grid;
int selectedNum=0,selectedCount=0;
int i;
for(i=0;i<qtw->rowCount();++i) if(qtw->isItemSelected(qtw->item(i,0))) ++selectedNum;
bool dilationFlag = arc3DDialog->ui.dilationCheckBox->isChecked();
int dilationN = arc3DDialog->ui.dilationNumPassSpinBox->value();
int dilationSz = arc3DDialog->ui.dilationSizeSlider->value() * 2 + 1;
bool erosionFlag = arc3DDialog->ui.erosionCheckBox->isChecked();
int erosionN = arc3DDialog->ui.erosionNumPassSpinBox->value();
int erosionSz = arc3DDialog->ui.erosionSizeSlider->value() * 2 + 1;
float scalingFactor = arc3DDialog->ui.scaleLineEdit->text().toFloat();
std::vector<string> savedMeshVector;
// Generating a mesh for each selected image
QList<Arc3DModel>::iterator li;
for(li=er.modelList.begin(), i=0;li!=er.modelList.end();++li,++i)
{
if(qtw->isItemSelected(qtw->item(i,0)))
{
++selectedCount;
mm.Clear();
int tt0=clock();
(*li).BuildMesh(mm,subSampleVal,minCountVal,MinAngleCos,smoothSteps,
dilationFlag, dilationN, dilationSz, erosionFlag, erosionN, erosionSz,scalingFactor);
int tt1=clock();
this->Log(GLLogStream::SYSTEM,"** Mesh %i : Build in %i\n",selectedCount,tt1-tt0);
m->cm.Clear();
tri::Append<CMeshO,CMeshO>::Mesh(m->cm,mm); // append mesh mr to ml
int tt2=clock();
this->Log(GLLogStream::SYSTEM,"** Mesh %i : Append in %i\n",selectedCount,tt2-tt1);
}
}
int t1=clock();
this->Log(GLLogStream::SYSTEM,"Extracted %i meshes in %i\n",selectedCount,t1-t0);
///// Removing connected components
if(removeSmallCC)
{
m->updateDataMask(MeshModel::MM_FACEFACETOPO | MeshModel::MM_FACEMARK);
tri::Clean<CMeshO>::RemoveSmallConnectedComponentsDiameter(m->cm,m->cm.bbox.Diag()*maxCCDiagVal/100.0);
}
vcg::tri::UpdateSelection<CMeshO>::FaceClear(m->cm);
int t2=clock();
this->Log(GLLogStream::SYSTEM,"Topology and removed CC in %i\n",t2-t1);
vcg::tri::UpdateBounding<CMeshO>::Box(m->cm); // updates bounding box
// Hole filling
if(closeHole)
{
m->updateDataMask(MeshModel::MM_FACEFACETOPO | MeshModel::MM_FACEMARK);
tri::UpdateNormal<CMeshO>::PerVertexNormalizedPerFace(m->cm);
vcg::tri::Hole<CMeshO>::EarCuttingFill<vcg::tri::MinimumWeightEar< CMeshO> >(m->cm,maxHoleSize,false);
}
m->updateDataMask(MeshModel::MM_VERTCOLOR);
Matrix44m transf;
transf.SetRotateDeg(180,Point3m(1.0,0.0,0.0));
m->cm.Tr=transf;
tri::UpdatePosition<CMeshO>::Matrix(m->cm, m->cm.Tr);
tri::UpdateNormal<CMeshO>::PerVertexMatrix(m->cm,m->cm.Tr);
tri::UpdateNormal<CMeshO>::PerFaceMatrix(m->cm,m->cm.Tr);
tri::UpdateBounding<CMeshO>::Box(m->cm);
m->cm.Tr.SetIdentity();
m->cm.shot.ApplyRigidTransformation(transf);
int t3=clock();
this->Log(GLLogStream::SYSTEM,"---------- Total Processing Time%i\n\n\n",t3-t0);
vcg::tri::UpdateBounding<CMeshO>::Box(m->cm); // updates bounding box
tri::UpdateNormal<CMeshO>::PerVertexNormalizedPerFace(m->cm);
// Final operations
md->mm()->visible=true;
md->setBusy(false);
emit documentUpdated();
//emit resetTrackBall();
}
void EditArc3DPlugin::mousePressEvent(QMouseEvent * /*e*/, MeshModel &, GLArea * )
{
}
void EditArc3DPlugin::mouseMoveEvent(QMouseEvent * /*e*/, MeshModel &, GLArea * )
{
}
void EditArc3DPlugin::mouseReleaseEvent(QMouseEvent * /*e*/, MeshModel & /*m*/, GLArea * /*gla*/)
{
}
// this function toggles on and off all the buttons (according to the "modal" states of the interface),
// do not confuse it with the updatebuttons function of the epochDialog class.
void EditArc3DPlugin::toggleButtons()
{
}
void EditArc3DPlugin::exportShotsToRasters()
{
int subSampleVal = arc3DDialog->ui.subsampleSpinBox->value();
float scalingFactor = arc3DDialog->ui.scaleLineEdit->text().toFloat();
int minCountVal= arc3DDialog->ui.minCountSpinBox->value();
CMeshO mm;
QTableWidget *qtw=arc3DDialog->ui.imageTableWidget;
v3dImportDialog::ExportShots saveSelected=v3dImportDialog::ExportShots(arc3DDialog->ui.saveShotCombo->currentIndex());
for(int i=0; i<er.modelList.size(); ++i)
{
if ((saveSelected==v3dImportDialog::EXPORT_ALL) || (qtw->isItemSelected(qtw->item(i,0))))
{
er.modelList[i].cam.Open(er.modelList[i].cameraName.toUtf8().data());
mm.Clear();
Point3m corr=er.modelList[i].TraCorrection(mm,subSampleVal*2,minCountVal,0);
er.modelList[i].shot.Extrinsics.SetTra(er.modelList[i].shot.Extrinsics.Tra()-corr);
md->setBusy(true);
RasterModel* rm=md->addNewRaster();
rm->addPlane(new Plane(er.modelList[i].textureName,Plane::RGBA));
rm->setLabel(er.modelList[i].textureName);
rm->shot=er.modelList[i].shot;
rm->shot.RescalingWorld(scalingFactor, false);
//// Undistort
if (arc3DDialog->ui.shotDistortion->isChecked())
{
QImage originalImg=rm->currentPlane->image;
//originalImg.load(imageName);
QFileInfo qfInfo(rm->currentPlane->fullPathFileName);
QString suffix = "." + qfInfo.completeSuffix();
QString path = qfInfo.absoluteFilePath().remove(suffix);
path.append("Undist" + suffix);
qDebug(path.toLatin1());
QImage undistImg(originalImg.width(),originalImg.height(),originalImg.format());
undistImg.fill(qRgba(0,0,0,255));
//vcg::Camera<float> &cam = rm->shot.Intrinsics;
QRgb value;
for(int x=0; x<originalImg.width();x++)
for(int y=0; y<originalImg.height();y++){
value = originalImg.pixel(x,y);
///////
Point3d m_temp = er.modelList[i].cam.Kinv * Point3d(x,y,1);
double oldx, oldy;
er.modelList[i].cam.rd.ComputeOldXY(m_temp[0] / m_temp[2], m_temp[1] / m_temp[2], oldx, oldy);
/////////////
m_temp=er.modelList[i].cam.K * Point3d(oldx,oldy,1);
vcg::Point2<float> newPoint(m_temp.X(),m_temp.Y());
if((newPoint.X()- (int)newPoint.X())>0,5)
newPoint.X()++;
if((newPoint.Y()- (int)newPoint.Y())>0,5)
newPoint.Y()++;
if(newPoint.X()>=0 && newPoint.X()<undistImg.width() && newPoint.Y()>=0 && newPoint.Y()< undistImg.height())
undistImg.setPixel((int)newPoint.X(),(int)newPoint.Y(),qRgba(qRed(value),qGreen(value),qBlue(value), qAlpha(value)));
}
PullPush(undistImg,qRgba(0,0,0,255));
undistImg.save(path);
rm->currentPlane->image= undistImg;
rm->currentPlane->fullPathFileName=path;
QString newLabel = rm->label();
newLabel.remove(suffix);
newLabel.append("Undist" + suffix);
rm->setLabel(newLabel);
md->setBusy(false);
}
Matrix44m transf;
transf.SetRotateDeg(180,Point3m(1.0,0.0,0.0));
rm->shot.ApplyRigidTransformation(transf);
//// end undistort
}
}
}
void Arc3DModel::depthFilter(FloatImage &depthImgf, FloatImage &countImgf, float depthJumpThr,
bool dilation, int dilationNumPasses, int dilationWinsize,
bool erosion, int erosionNumPasses, int erosionWinsize)
{
FloatImage depth;
FloatImage depth2;
int w = depthImgf.w;
int h = depthImgf.h;
depth=depthImgf;
if (dilation)
{
for (int k = 0; k < dilationNumPasses; k++)
{
depth.Dilate(depth2, dilationWinsize / 2);
depth=depth2;
}
}
if (erosion)
{
for (int k = 0; k < erosionNumPasses; k++)
{
depth.Erode(depth2, erosionWinsize / 2);
depth=depth2;
}
}
Histogramf HH;
HH.Clear();
HH.SetRange(0,depthImgf.MaxVal()-depthImgf.MinVal(),10000);
for(int i=1; i < static_cast<int>(depthImgf.v.size()); ++i)
HH.Add(fabs(depthImgf.v[i]-depth.v[i-1]));
int deletedCnt=0;
depthJumpThr = HH.Percentile(0.8f);
for (int y = 0; y < h; y++)
for (int x = 0; x < w; x++)
{
if ((depthImgf.Val(x, y) - depth.Val(x, y)) / depthImgf.Val(x, y) > 0.6)
{
countImgf.Val(x, y) = 0.0f;
++deletedCnt;
}
}
countImgf.convertToQImage().save("tmp_filteredcount.jpg","jpg");
}
float Arc3DModel::ComputeDepthJumpThr(FloatImage &depthImgf, float percentile)
{
Histogramf HH;
HH.Clear();
HH.SetRange(0,depthImgf.MaxVal()-depthImgf.MinVal(),10000);
for(unsigned int i=1; i < static_cast<unsigned int>(depthImgf.v.size()); ++i)
HH.Add(fabs(depthImgf.v[i]-depthImgf.v[i-1]));
return HH.Percentile(percentile);
}
/// Apply the hand drawn mask image
bool Arc3DModel::CombineHandMadeMaskAndCount(CharImage &CountImg, QString maskName )
{
QImage maskImg(maskName);
qDebug("Trying to read maskname %s",qPrintable(maskName));
if(maskImg.isNull())
return false;
if( (maskImg.width()!= CountImg.w) || (maskImg.height()!= CountImg.h) )
{
qDebug("Warning mask and images does not match! %i %i vs %i %i",maskImg.width(),CountImg.w,maskImg.height(),CountImg.h);
return false;
}
for(int j=0;j<maskImg.height();++j)
for(int i=0;i<maskImg.width();++i)
if(qRed(maskImg.pixel(i,j))>128)
CountImg.Val(i,j)=0;
return true;
}
void Arc3DModel::SmartSubSample(int factor, FloatImage &fli, CharImage &chi, FloatImage &subD, FloatImage &subQ, int minCount)
{
assert(fli.w==chi.w && fli.h==chi.h);
int w=fli.w/factor;
int h=fli.h/factor;
subQ.resize(w,h);
subD.resize(w,h);
for(int i=0;i<w;++i)
for(int j=0;j<h;++j)
{
float maxcount=0;
int cnt=0;
float bestVal=0;
for(int ki=0;ki<factor;++ki)
for(int kj=0;kj<factor;++kj)
{
float q= chi.Val(i*factor+ki,j*factor+kj) - minCount+1 ;
if(q>0)
{
maxcount+= q;
bestVal +=q*fli.Val(i*factor+ki,j*factor+kj);
cnt++;
}
}
if(cnt>0)
{
subD.Val(i,j)=float(bestVal)/maxcount;
subQ.Val(i,j)=minCount-1 + float(maxcount)/cnt ;
}
else
{
subD.Val(i,j)=0;
subQ.Val(i,j)=0;
}
}
}
/*
This filter average apply a laplacian smoothing over a depth map averaging the samples with a weighting scheme that follows the Counting masks.
The result of the laplacian is applied only on sample with low quality.
*/
void Arc3DModel::Laplacian2(FloatImage &depthImg, FloatImage &countImg, int minCount, CharImage &featureMask, float depthThr)
{
FloatImage Sum;
int w=depthImg.w,h=depthImg.h;
Sum.resize(w,h);
for(int y=1;y<h-1;++y)
for(int x=1;x<w-1;++x)
{
float curDepth=depthImg.Val(x,y);
int cnt=0;
for(int j=-1;j<=1;++j)
for(int i=-1;i<=1;++i)
{
int q=countImg.Val(x+i,y+j)-minCount+1;
if(q>0 && fabs(depthImg.Val(x+i,y+j)-curDepth) < depthThr) {
Sum.Val(x,y)+=q*depthImg.Val(x+i,y+j);
cnt+=q;
}
}
if(cnt>0) {
Sum.Val(x,y)/=cnt;
}
else Sum.Val(x,y)=depthImg.Val(x,y);
}
for(int y=1;y<h-1;++y)
for(int x=1;x<w-1;++x)
{
float q=(featureMask.Val(x,y)/255.0);
depthImg.Val(x,y) = depthImg.Val(x,y)*q + Sum.Val(x,y)*(1-q);
}
}
// It generate a feature mask that mark the featureless area of the original photo.
// Featureless areas are usually affected by noise and have to be smoothed more
void Arc3DModel::GenerateGradientSmoothingMask(int subsampleFactor, QImage &OriginalTexture, CharImage &mask)
{
CharImage gray(OriginalTexture);
CharImage grad;
grad.resize(gray.w,gray.h);
int w=gray.w,h=gray.h;
for(int x=1;x<w-1;++x)
for(int y=1;y<h-1;++y)
{
int dx=abs(int(gray.Val(x,y))-int(gray.Val(x-1,y))) + abs(int(gray.Val(x,y))-int(gray.Val(x+1,y)));
int dy=abs(int(gray.Val(x,y))-int(gray.Val(x,y-1))) + abs(int(gray.Val(x,y))-int(gray.Val(x,y+1)));
grad.Val(x,y)=min(255,16*dx+dy);
}
// create subsampled mask
int ws=gray.w/subsampleFactor, hs=gray.h/subsampleFactor;
mask.resize(ws,hs);
for(int x=0;x<ws;++x)
for(int y=0;y<hs;++y)
{
unsigned char maxGrad=0;
for(int si=0;si<subsampleFactor;++si)
for(int sj=0;sj<subsampleFactor;++sj)
maxGrad = max(maxGrad, grad.Val(x*subsampleFactor+sj,y*subsampleFactor+si));
mask.Val(x,y) = maxGrad;
}
CharImage mask2;
mask2.resize(ws, hs);
// average filter (11 x 11)
int avg;
int wsize = 5;
for (int y = wsize; y < hs-wsize; y++)
for (int x = wsize; x < ws-wsize; x++)
{
avg = 0;
for (int yy = y - wsize; yy <= y + wsize; yy++)
for (int xx = x - wsize; xx <= x + wsize; xx++)
avg += mask.Val(xx, yy);
mask2.Val(x, y) = min(255, avg / ((2 * wsize + 1)* (2 * wsize +1)));
}
mask.convertToQImage().save("tmp_testmask.jpg","jpg");
mask2.convertToQImage().save("tmp_testmaskSmooth.jpg","jpg");
// erosion filter (7 x 7)
int minimum;
wsize = 3;
for (int y = wsize; y < hs-wsize; y++)
for (int x = wsize; x < ws-wsize; x++)
{
minimum = mask2.Val(x, y);
for (int yy = y - wsize; yy <= y + wsize; yy++)
for (int xx = x - wsize; xx <= x + wsize; xx++)
if (mask2.Val(xx, yy) < minimum)
minimum = mask2.Val(xx, yy);
mask.Val(x, y) = minimum;
}
grad.convertToQImage().save("tmp_test.jpg","jpg");
mask.convertToQImage().save("tmp_testmaskeroded.jpg","jpg");
}
/*
Main processing function;
it takes a depth map, a count map,
- resample them to a (width/subsample,height/subsample) image
- leave only the faces that are within a given orientation range
- that have a count greater than minCount.
- and smooth them with a count/quality aware laplacian filter
*/
bool Arc3DModel::BuildMesh(CMeshO &m, int subsampleFactor, int minCount, float minAngleCos, int smoothSteps,
bool dilation, int dilationPasses, int dilationSize,
bool erosion, int erosionPasses, int erosionSize,float scalingFactor)
{
FloatImage depthImgf;
CharImage countImgc;
clock();
depthImgf.Open(depthName.toUtf8().data());
countImgc.Open(countName.toUtf8().data());
QImage TextureImg;
TextureImg.load(textureName);
clock();
CombineHandMadeMaskAndCount(countImgc,maskName); // set count to zero for all masked points
FloatImage depthSubf; // the subsampled depth image
FloatImage countSubf; // the subsampled quality image (quality == count)
SmartSubSample(subsampleFactor,depthImgf,countImgc,depthSubf,countSubf,minCount);
CharImage FeatureMask; // the subsampled image with (quality == features)
GenerateGradientSmoothingMask(subsampleFactor, TextureImg, FeatureMask);
depthSubf.convertToQImage().save("tmp_depth.jpg", "jpg");
clock();
float depthThr = ComputeDepthJumpThr(depthSubf,0.8f);
for(int ii=0;ii<smoothSteps;++ii)
Laplacian2(depthSubf,countSubf,minCount,FeatureMask,depthThr);
clock();
vcg::tri::Grid<CMeshO>(m,depthSubf.w,depthSubf.h,depthImgf.w,depthImgf.h,&*depthSubf.v.begin());
clock();
// The depth is filtered and the minimum count mask is update accordingly.
// To be more specific the border of the depth map are identified by erosion
// and the relative vertex removed (by setting mincount equal to 0).
float depthThr2 = ComputeDepthJumpThr(depthSubf,0.95f);
depthFilter(depthSubf, countSubf, depthThr2,
dilation, dilationPasses, dilationSize,
erosion, erosionPasses, erosionSize);
int vn = m.vn;
for(int i=0;i<vn;++i)
if(countSubf.v[i]<minCount)
{
m.vert[i].SetD();
m.vn--;
}
cam.Open(cameraName.toUtf8().data());
CMeshO::VertexIterator vi;
Matrix33d Rinv= Inverse(cam.R);
for(vi=m.vert.begin();vi!=m.vert.end();++vi)if(!(*vi).IsD())
{
Point3m in=(*vi).P();
Point3d out;
cam.DepthTo3DPoint(in[0], in[1], in[2], out);
(*vi).P().Import(out);
QRgb c = TextureImg.pixel(int(in[0]), int(in[1]));
vcg::Color4b tmpcol(qRed(c),qGreen(c),qBlue(c),0);
(*vi).C().Import(tmpcol);
if(FeatureMask.Val(int(in[0]/subsampleFactor), int(in[1]/subsampleFactor))<200) (*vi).Q()=0;
else (*vi).Q()=1;
(*vi).Q()=float(FeatureMask.Val(in[0]/subsampleFactor, in[1]/subsampleFactor))/255.0;
}
clock();
CMeshO::FaceIterator fi;
Point3m CameraPos = Point3m::Construct(cam.t);
for(fi=m.face.begin();fi!=m.face.end();++fi)
{
if((*fi).V(0)->IsD() ||(*fi).V(1)->IsD() ||(*fi).V(2)->IsD() )
{
(*fi).SetD();
--m.fn;
}
else
{
Point3m n=vcg::TriangleNormal(*fi);
n.Normalize();
Point3m dir=CameraPos-vcg::Barycenter(*fi);
dir.Normalize();
if(dir.dot(n) < minAngleCos)
{
(*fi).SetD();
--m.fn;
}
}
}
tri::Clean<CMeshO>::RemoveUnreferencedVertex(m);
clock();
Matrix44m scaleMat;
scaleMat.SetScale(scalingFactor,scalingFactor,scalingFactor);
vcg::tri::UpdatePosition<CMeshO>::Matrix(m, scaleMat);
return true;
}
/*
This is the function which applies a correction to the position of cameras to handle the format of arc3D cameras.
*/
Point3m Arc3DModel::TraCorrection(CMeshO &m, int subsampleFactor, int minCount, int smoothSteps)
{
FloatImage depthImgf;
CharImage countImgc;
depthImgf.Open(depthName.toUtf8().data());
countImgc.Open(countName.toUtf8().data());
QImage TextureImg;
TextureImg.load(textureName);
CombineHandMadeMaskAndCount(countImgc,maskName); // set count to zero for all masked points
FloatImage depthSubf; // the subsampled depth image
FloatImage countSubf; // the subsampled quality image (quality == count)
SmartSubSample(subsampleFactor,depthImgf,countImgc,depthSubf,countSubf,minCount);
CharImage FeatureMask; // the subsampled image with (quality == features)
GenerateGradientSmoothingMask(subsampleFactor, TextureImg, FeatureMask);
depthSubf.convertToQImage().save("tmp_depth.jpg", "jpg");
float depthThr = ComputeDepthJumpThr(depthSubf,0.8f);
for(int ii=0;ii<smoothSteps;++ii)
Laplacian2(depthSubf,countSubf,minCount,FeatureMask,depthThr);
vcg::tri::Grid<CMeshO>(m,depthSubf.w,depthSubf.h,depthImgf.w,depthImgf.h,&*depthSubf.v.begin());
// The depth is filtered and the minimum count mask is update accordingly.
// To be more specific the border of the depth map are identified by erosion
// and the relative vertex removed (by setting mincount equal to 0).
ComputeDepthJumpThr(depthSubf,0.95f);
int vn = m.vn;
for(int i=0;i<vn;++i)
if(countSubf.v[i]<minCount)
{
m.vert[i].SetD();
m.vn--;
}
cam.Open(cameraName.toUtf8().data());
CMeshO::VertexIterator vi;
Matrix33d Rinv= Inverse(cam.R);
Point3m correction(0.0,0.0,0.0);
int numSamp=0;
for(vi=m.vert.begin();vi!=m.vert.end();++vi)if(!(*vi).IsD())
{
Point3m in=(*vi).P();
Point3d out;
correction+=cam.DepthTo3DPoint(in[0], in[1], in[2], out);
numSamp++;
}
if (numSamp!=0)
correction/=(double)numSamp;
return correction;
}
void Arc3DModel::AddCameraIcon(CMeshO &m)
{
tri::Allocator<CMeshO>::AddVertices(m,3);
m.vert[m.vert.size()-3].P()=Point3m::Construct(cam.t+Point3d(0,0,0));
m.vert[m.vert.size()-3].C()=Color4b::Green;
m.vert[m.vert.size()-2].P()=Point3m::Construct(cam.t+Point3d(0,1,0));
m.vert[m.vert.size()-2].C()=Color4b::Green;
m.vert[m.vert.size()-1].P()=Point3m::Construct(cam.t+Point3d(1,0,0));
m.vert[m.vert.size()-1].C()=Color4b::Green;
tri::Allocator<CMeshO>::AddFaces(m,1);
m.face[m.face.size()-1].V(0)= &m.vert[m.vert.size()-3];
m.face[m.face.size()-1].V(1)= &m.vert[m.vert.size()-2];
m.face[m.face.size()-1].V(2)= &m.vert[m.vert.size()-1];
}
bool Arc3DModel::Init(QDomNode &node)
{
if(!node.hasAttributes()) return false;
QDomNamedNodeMap attr= node.attributes();
QString indexString = (attr.namedItem("index")).nodeValue() ;
qDebug("reading Model with index %i ",indexString.toInt());
for(QDomNode n = node.firstChild(); !n.isNull(); n = n.nextSibling())
{
if(n.nodeName() == QString("camera")) cameraName = n.attributes().namedItem("filename").nodeValue();
if(n.nodeName() == QString("texture")) textureName= n.attributes().namedItem("filename").nodeValue();
if(n.nodeName() == QString("depth")) depthName = n.attributes().namedItem("filename").nodeValue();
if(n.nodeName() == QString("count")) countName = n.attributes().namedItem("filename").nodeValue();
// import leuven camera
{
double cam[9];
float focus,scale;
FILE* lvcam;
lvcam = fopen(cameraName.toUtf8().data(),"rb");
// focus + image centers
fscanf(lvcam,"%lf %lf %lf",&(cam[0]),&(cam[1]),&(cam[2]));
fscanf(lvcam,"%lf %lf %lf",&(cam[3]),&(cam[4]),&(cam[5]));
fscanf(lvcam,"%lf %lf %lf",&(cam[6]),&(cam[7]),&(cam[8]));
shot.Intrinsics.DistorCenterPx[0] = cam[2];
shot.Intrinsics.DistorCenterPx[1] = cam[5];
//shot.Intrinsics.CenterPx[0] = cam[2];
//shot.Intrinsics.CenterPx[1] = cam[5];
focus = cam[4];
scale = 1.0f;
while(focus>150.0f)
{
focus /= 10.0f;
scale /= 10.0f;
}
shot.Intrinsics.FocalMm = focus;
shot.Intrinsics.PixelSizeMm[0] = scale;
shot.Intrinsics.PixelSizeMm[1] = scale;
// distortion
fscanf(lvcam,"%lf %lf %lf",&(cam[0]),&(cam[1]),&(cam[2]));
//shot.Intrinsics.k[0] = cam[0];
//shot.Intrinsics.k[1] = cam[1];
shot.Intrinsics.k[0] = 0.0;
shot.Intrinsics.k[1] = 0.0;
// orientation axis
fscanf(lvcam,"%lf %lf %lf",&(cam[0]),&(cam[1]),&(cam[2]));
fscanf(lvcam,"%lf %lf %lf",&(cam[3]),&(cam[4]),&(cam[5]));
fscanf(lvcam,"%lf %lf %lf",&(cam[6]),&(cam[7]),&(cam[8]));
Matrix44m myrot;
myrot[0][0] = cam[0]; myrot[0][1] = cam[3]; myrot[0][2] = cam[6]; myrot[0][3] = 0.0f;
myrot[1][0] = -cam[1]; myrot[1][1] = -cam[4]; myrot[1][2] = -cam[7]; myrot[1][3] = 0.0f;
myrot[2][0] = -cam[2]; myrot[2][1] = -cam[5]; myrot[2][2] = -cam[8]; myrot[2][3] = 0.0f;
myrot[3][0] = 0.0f; myrot[3][1] = 0.0f; myrot[3][2] = 0.0f; myrot[3][3] = 1.0;
shot.Extrinsics.SetRot(myrot);
// camera position
fscanf(lvcam,"%lf %lf %lf",&(cam[0]),&(cam[1]),&(cam[2]));
shot.Extrinsics.SetTra(Point3m(cam[0], cam[1], cam[2]));
// shot.Extrinsics.sca = 1.0f;
// image size
fscanf(lvcam,"%lf %lf",&(cam[0]),&(cam[1]));
shot.Intrinsics.ViewportPx.X() = (int)(cam[0]);
shot.Intrinsics.ViewportPx.Y() = (int)(cam[1]);
shot.Intrinsics.CenterPx[0] = (double)shot.Intrinsics.ViewportPx[0]/2.0;
shot.Intrinsics.CenterPx[1] = (double)shot.Intrinsics.ViewportPx[1]/2.0;
//shot.Intrinsics.DistorCenterPx[0]=shot.Intrinsics.CenterPx[0];
//shot.Intrinsics.DistorCenterPx[1]=shot.Intrinsics.CenterPx[1];
fclose(lvcam);
}
}
QString tmpName=textureName.left(textureName.length()-4);
maskName = tmpName.append(".mask.png");
return true;
}
QString Arc3DModel::ThumbName(QString &_imageName)
{
QString tmpName=_imageName.left(_imageName.length()-4);
return tmpName.append(".thumb.jpg");
}
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